• Journal of IKEEE
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• v.18 no.3
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• pp.376-382
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• 2014

In this paper, we propose a advanced attitude PID controller and sensor fusion method robust to the vibration of the quadcopter unmanned air vehicle using four BLDC motors. When the gyro sensor and acceleration sensor are fused, a complementary filter is designed to ignore the vibrations generated by the motors and to complement the drawbacks. As a result, we obtain accurate results than using each sensor. Also, it is possible to obtain a low delay results in robust to vibration than the low-pass filter or moving average filter, which is generally used for quadcopter. And we improved D controller, which have being used for attitude control of quadcopter, to quadcopter using gyro sensor. it was confirmed that the attitude is stabilized and error is reduced By using gyro sensor output instead of variation of estimated angle in D control.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.8
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• pp.114-125
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• 2014

In a conventional sonar system, which uses LFM signal for detecting targets with varying speed, the results of multiple LFM Doppler correlators are aligned and the maximum alined result are selected as a test cell for detecting targets. As the number of the LFM Doppler correlators are increased for accurate target detection, as the required computational complexity and the memory are also increased. This fact makes it difficult to implement the accurate LFM target detector. In this paper, we propose a new fast target detection which is robust for the variation of target speed. Because the proposed method uses the summation of alined results of large numbers of LFM Doppler correlators, the proposed method increase SNR and provide robust SNR for the variation of target speed. And the proposed method can provide very fast target detection by implementing the process, the summation of alined results of large numbers of LFM Doppler correlators, as one summation filter.

• The Journal of the Acoustical Society of Korea
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• v.23 no.1
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• pp.61-74
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• 2004

In this paper, a contort- and speaker-dependent cepstrum extraction method and a channel normalization method for minimizing the loss of speaker characteristics in the cepstrum were proposed for a robust speaker recognition system over the channel. The proposed extraction method creates a cepstrum based on the pitch synchronous analysis using the inherent pitch of the speaker. Therefore, the cepstrum called the 〃pitch synchronous cepstrum〃 (PSC) represents the impulse response of the vocal tract more accurately in voiced speech. And the PSC can compensate for channel distortion because the pitch is more robust in a channel environment than the spectrum of speech. And the proposed channel normalization method, the 〃formant-broadened pitch synchronous CMS〃 (FBPSCMS), applies the Formant-Broadened CMS to the PSC and improves the accuracy of the intraframe processing. We compared the text-independent closed-set speaker identification on 56 females and 112 males using TIMIT and NTIMIT database, respectively. The results show that pitch synchronous km improves the error reduction rate by up to 7.7% in comparison with conventional short-time cepstrum and the error rates of the FBPSCMS are more stable and lower than those of pole-filtered CMS.

• Journal of Korea Multimedia Society
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• v.10 no.1
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• pp.26-35
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• 2007

We present a robust face tracking system from the sequence of video images based on effective detector and Kalman filter. To construct the effective face detector, we extract the face features using the five types of simple Haar-like features. Extracted features are reinterpreted using Principal Component Analysis (PCA), and interpreted principal components are used for Support Vector Machine (SVM) that classifies the faces and non-faces. We trace the moving face with Kalman filter, which uses the static information of the detected faces and the dynamic information of changes between previous and current frames. To make a real-time tracking system, we reduce processing time by adjusting the frequency of face detection. In this experiment, the proposed system showed an average tracking rate of 95.5% and processed at 15 frames per second. This means the system is robust enough to track faces in real-time.

• The KIPS Transactions:PartB
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• v.10B no.4
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• pp.419-428
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• 2003

Recently, digital watermarking has been proposed as a viable solution to the need of copyright protection and authentication of multimedia data. A robust wavelet-based watermark casting scheme and a watermark retrieval technique are suggested in this paper. We present a method which can add the watermark to the significant coefficients in the DWT domain, and does not require the original image in the detection process. In adaptive watermark casting method is developed to select perceptually significant coefficients for each subband using multiple threshold. In the proposed method, an adaptive multiple threshold scheme is used to reflect characteristics of each subband and complexity of image. The watermark is adaptively weighted in different subbands to achieve robustness as well as high perceptual quality. The watermark, Gaussian random sequence is added to the large coefficients but not in the lowest subband in the DWT domain. Experimental results show that the proposed algorithm produced visually very good watermarked image which has good invisibility to human eyes and very robust against various image processing and compression attacks.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• The Journal of the Acoustical Society of Korea
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• v.22 no.4
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• pp.261-268
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• 2003

Conventional acoustic echo cancellers using ES algorithm have simple structure and fast convergence speed compared with those using NLMS algorithm, but they are very weak to external noise because ES algorithm updates the adaptive filter taps based on average energy reduction rate of room impulse response in specific acoustical condition. To solve this problem, in this paper, a new update algorithm for acoustic echo canceller with stepsize matrix generator is proposed. A set of stepsizes is determined based on residual error energy which is estimated by two moving average operators, and applied to the echo canceller in matrix from, resulting in improved convergence speed. Simulations in various noise condition show that the proposed algorithm improves the robustness of acoustic echo canceller to external noise.

• Journal of IKEEE
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• v.24 no.3
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• pp.743-753
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• 2020

In this paper, we propose a set of robustness indicators for immersive 360-degree video. With the full-fledged service of mobile carriers' 5G networks, it is possible to use large-capacity, immersive 360-degree videos at high speed anytime, anywhere. Since it can be illegally distributed in web-hard and torrents through DRM dismantling and various video modifications, however, evaluation indicators that can objectively evaluate the filtering performance for copyright protection are required. In this paper, a robustness indicators is proposed that applies the existing 2D Video robustness indicators and considers the projection method and reproduction method, which are the characteristics of Immersive 360-degree Video. The performance evaluation experiment has been carried out for a sample filtering system and it is verified that an excellent recognition rate of 95% or more has been achieved in about 3 second execution time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.5
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• pp.551-557
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• 2014

This paper presents a robust lateral controller for autonomous guidance of a farm tractor in field operations. Although mechanical steering actuators have recently been used for passenger vehicles, the steering actuator of the farm tractor is based on a hydraulic system, resulting in limited bandwidth and a larger time delay. Based on a kinematic tractor model with steering actuator dynamics, a nonlinear control technique called dynamic surface control is applied to design a robust lateral controller that compensates for uncertainty owing to steering actuator and road geometry. Finally, tracking performance and robustness of the proposed controller are validated via commercial tractor simulations, with respect to the time delay of the steering actuator and road geometry (e.g., up and down hills), on a given field with a constant friction coefficient.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.4
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• pp.33-39
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• 2011

Biped robot with high DOF has instability in mechanism. Therefore, it is important to guarantee walking stability of biped robot. Biped robot can stably walk on the flat ground using static walking patterns. However, walking stability of robot becomes increasingly worse on the uneven terrain. In the paper, we propose a robust walking algorithm of biped robot with motion stabilization to solve the problem The proposed algorithm was designed to stabilize walking motions based on the inclination of robot body using a gyro sensor and a accelerometer equipped in the center of the upper body. If unstable motions are recognized, angles of each joints are modified to increase stability by using compensation of angles of lower legs. The experimental results show that biped robot performs stable walking on the uneven terrain.